摘要
由于丘陵山区田间道路复杂的环境,智能农业装备难以实现高安全性的自主避障功能.为此,融合多源传感器信息,提出一种基于栅格地图优化方法和改进A星算法的自主行驶避障方案.运用优化的Bresenham's算法和滚动更新原理投射障碍物位置信息,使栅格地图更具有实时性和可靠性,形成一种动态栅格地图.改进的A星算法采用代价函数分别评估安全性、局部路径与全局路径的偏移度.最后,利用ROS系统进行离线仿真和实时真实道路试验.仿真和试验结果表明:规划路径的曲率波动范围较小,提出的栅格地图优化方法和改进的A星算法满足丘陵山区田间道路低速智能农业装备避障的安全要求.
Due to the complex environment in field roads,it is difficult for intelligent agricultural equipment to achieve high-safety autonomous obstacle avoidance.Therefore,by fusing multi-source sensor information,this research proposes an autonomous obstacle avoidance method based on grid map optimization and an improved A*algorithm.The optimized Bresenham s algorithm and rolling update design make the grid map more real-time and reliable,which forms a kind of dynamic grid map.The improved A*algorithm uses cost functions to evaluate the safety and the deviation between the local path and the global path,respectively.Finally,use the ROS system for offline simulation and real-time real road tests.Simulation and real-time test results show that the fluctuation of curvature of the planned path is small.The proposed grid map optimization method and improved A*algorithm meet the safety requirements of low-speed intelligent agricultural equipment obstacle avoidance on field roads.
作者
林先卬
李云伍
赵颖
王月强
杨洪涛
LIN Xianang;LI Yunwu;ZHAO Ying;WANG Yueqiang;YANG Hongtao(College of Engineering and Technology,Southwest University,Chongqing 400715,China;Changan Automobile Intelligent Research Institute,Chongqing 404135,China)
出处
《西南大学学报(自然科学版)》
CAS
CSCD
北大核心
2022年第12期77-86,共10页
Journal of Southwest University(Natural Science Edition)
基金
贵州省科技计划项目(黔科合支撑[2019]2384号,黔科合支撑[2021]一般171号).
关键词
避障
动态栅格地图
改进A星算法
丘陵山区
obstacle avoidance
dynamic grid map
improved A-star algorithm
hilly areas